# Design and Implementation of a Real-Time Nonlinear Model Predictive Controller for a Lower Limb Exoskeleton with Input Saturation

> Research article (Iranian Journal of Science and Technology Transactions of Electrical Engineering, 2020) · cited 27× · AI/ML

**Wikidata**: [openalex:W3040462674](https://www.wikidata.org/wiki/openalex:W3040462674)  
**Source**: https://4ort.xyz/entity/design-and-implementation-of-a-real-time-nonlinear-model-predictive-controller-for-a-lower-limb-exoskeleton-with-input-s